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<div class="title">EulerAngles.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// This file is part of Eigen, a lightweight C++ template library</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// for linear algebra.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2015 Tal Hadad &lt;tal_hd@hotmail.com&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// This Source Code Form is subject to the terms of the Mozilla</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// Public License v. 2.0. If a copy of the MPL was not distributed</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef EIGEN_EULERANGLESCLASS_H</span><span class="comment">// TODO: Fix previous &quot;EIGEN_EULERANGLES_H&quot; definition?</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define EIGEN_EULERANGLESCLASS_H</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;./InternalHeaderCheck.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceEigen.html">Eigen</a></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Scalar_, <span class="keyword">class</span> _System&gt;</div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html">  102</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles</a> : <span class="keyword">public</span> <a class="codeRef" href="../classEigen_1_1RotationBase.html">RotationBase</a>&lt;EulerAngles&lt;Scalar_, _System&gt;, 3&gt;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">typedef</span> <a class="codeRef" href="../classEigen_1_1RotationBase.html">RotationBase&lt;EulerAngles&lt;Scalar_, _System&gt;</a>, 3&gt; <a class="codeRef" href="../classEigen_1_1RotationBase.html">Base</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">  108</a></span>&#160;      <span class="keyword">typedef</span> Scalar_ <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="codeRef" href="../structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::Real</a> RealScalar;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a1462fffa812b7bec67c8f2e2b2daca52">  112</a></span>&#160;      <span class="keyword">typedef</span> _System <a class="code" href="classEigen_1_1EulerAngles.html#a1462fffa812b7bec67c8f2e2b2daca52">System</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a9af783749247585b5660ed5209241759">  114</a></span>&#160;      <span class="keyword">typedef</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Matrix&lt;Scalar,3,3&gt;</a> <a class="code" href="classEigen_1_1EulerAngles.html#a9af783749247585b5660ed5209241759">Matrix3</a>; </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#adc9885adf8d93f64b74413aa1df38760">  115</a></span>&#160;      <span class="keyword">typedef</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Matrix&lt;Scalar,3,1&gt;</a> <a class="code" href="classEigen_1_1EulerAngles.html#adc9885adf8d93f64b74413aa1df38760">Vector3</a>; </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a3000fb4d6de76cf9b68ae2766e4dd1c6">  116</a></span>&#160;      <span class="keyword">typedef</span> <a class="codeRef" href="../classEigen_1_1Quaternion.html">Quaternion&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1EulerAngles.html#a3000fb4d6de76cf9b68ae2766e4dd1c6">QuaternionType</a>; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a5342f1946064f4dc87f27e9d7ef3b944">  117</a></span>&#160;      <span class="keyword">typedef</span> <a class="codeRef" href="../classEigen_1_1AngleAxis.html">AngleAxis&lt;Scalar&gt;</a> <a class="code" href="classEigen_1_1EulerAngles.html#a5342f1946064f4dc87f27e9d7ef3b944">AngleAxisType</a>; </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a293acf98b393c33700fa3ef73ebb5908">  120</a></span>&#160;      <span class="keyword">static</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a> <a class="code" href="classEigen_1_1EulerAngles.html#a293acf98b393c33700fa3ef73ebb5908">AlphaAxisVector</a>() {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a>&amp; u = <a class="codeRef" href="../classEigen_1_1MatrixBase.html#a9daf6d22d10ed8ae00432b0f641455df">Vector3::Unit</a>(System::AlphaAxisAbs - 1);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">return</span> System::IsAlphaOpposite ? -u : u;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a8688fc64fbfe00f0fc13c97ec20de8bf">  126</a></span>&#160;      <span class="keyword">static</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a> <a class="code" href="classEigen_1_1EulerAngles.html#a8688fc64fbfe00f0fc13c97ec20de8bf">BetaAxisVector</a>() {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a>&amp; u = <a class="codeRef" href="../classEigen_1_1MatrixBase.html#a9daf6d22d10ed8ae00432b0f641455df">Vector3::Unit</a>(System::BetaAxisAbs - 1);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">return</span> System::IsBetaOpposite ? -u : u;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a2097a8d02e36a9d6b847177afa4f40fa">  132</a></span>&#160;      <span class="keyword">static</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a> <a class="code" href="classEigen_1_1EulerAngles.html#a2097a8d02e36a9d6b847177afa4f40fa">GammaAxisVector</a>() {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a>&amp; u = <a class="codeRef" href="../classEigen_1_1MatrixBase.html#a9daf6d22d10ed8ae00432b0f641455df">Vector3::Unit</a>(System::GammaAxisAbs - 1);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">return</span> System::IsGammaOpposite ? -u : u;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a> m_angles;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#abe1367f90d728dd7b230d9589cefec89">  142</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#abe1367f90d728dd7b230d9589cefec89">EulerAngles</a>() {}</div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a3c2909797afa7e7d4efdad3d883c914b">  144</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#a3c2909797afa7e7d4efdad3d883c914b">EulerAngles</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a271449e2a6b745b4e97f7546bef1bc0a">alpha</a>, <span class="keyword">const</span> <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a8701809550b7423d8747b2c54d54a758">beta</a>, <span class="keyword">const</span> <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a73fad7a6e7becb9407fa726fa2d8fded">gamma</a>) :</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        m_angles(<a class="code" href="classEigen_1_1EulerAngles.html#a271449e2a6b745b4e97f7546bef1bc0a">alpha</a>, <a class="code" href="classEigen_1_1EulerAngles.html#a8701809550b7423d8747b2c54d54a758">beta</a>, <a class="code" href="classEigen_1_1EulerAngles.html#a73fad7a6e7becb9407fa726fa2d8fded">gamma</a>) {}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="comment">// TODO: Test this constructor</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a430e6d50569d0f10a067e13019ce0b1d">  149</a></span>&#160;<span class="comment"></span>      <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1EulerAngles.html#a430e6d50569d0f10a067e13019ce0b1d">EulerAngles</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>* data) : m_angles(data) {}</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a8eee875698fd7dfb4a0a0a101dfaffc1">  164</a></span>&#160;      <span class="keyword">explicit</span> <a class="code" href="classEigen_1_1EulerAngles.html#a8eee875698fd7dfb4a0a0a101dfaffc1">EulerAngles</a>(<span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; other) { *<span class="keyword">this</span> = other; }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#aa4bd914c869a7ad06252eb9672326a06">  178</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#aa4bd914c869a7ad06252eb9672326a06">EulerAngles</a>(<span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1RotationBase.html">RotationBase&lt;Derived, 3&gt;</a>&amp; rot) { System::CalcEulerAngles(*<span class="keyword">this</span>, rot.<a class="codeRef" href="../classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>()); }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="comment">/*EulerAngles(const QuaternionType&amp; q)</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="comment">        // TODO: Implement it in a faster way for quaternions</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="comment">        // According to http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment">        //  we can compute only the needed matrix cells and then convert to euler angles. (see ZYX example below)</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="comment">        // Currently we compute all matrix cells from quaternion.</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">        // Special case only for ZYX</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment">        //Scalar y2 = q.y() * q.y();</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">        //m_angles[0] = std::atan2(2*(q.w()*q.z() + q.x()*q.y()), (1 - 2*(y2 + q.z()*q.z())));</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">        //m_angles[1] = std::asin( 2*(q.w()*q.y() - q.z()*q.x()));</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">        //m_angles[2] = std::atan2(2*(q.w()*q.x() + q.y()*q.z()), (1 - 2*(q.x()*q.x() + y2)));</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">      }*/</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a430d0f255f3a671433fb2d81b7759347">  195</a></span>&#160;      <span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a430d0f255f3a671433fb2d81b7759347">angles</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_angles; }</div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a86c18f2f491ecd7e1c1bd41ce5a58034">  197</a></span>&#160;      <a class="codeRef" href="../classEigen_1_1Matrix.html">Vector3</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a86c18f2f491ecd7e1c1bd41ce5a58034">angles</a>() { <span class="keywordflow">return</span> m_angles; }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a271449e2a6b745b4e97f7546bef1bc0a">  200</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a> <a class="code" href="classEigen_1_1EulerAngles.html#a271449e2a6b745b4e97f7546bef1bc0a">alpha</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_angles[0]; }</div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#ac3a564a92a4b43e24f267f968a4338b2">  202</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#ac3a564a92a4b43e24f267f968a4338b2">alpha</a>() { <span class="keywordflow">return</span> m_angles[0]; }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a8701809550b7423d8747b2c54d54a758">  205</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a> <a class="code" href="classEigen_1_1EulerAngles.html#a8701809550b7423d8747b2c54d54a758">beta</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_angles[1]; }</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a8fdec84c62624ab5950eb0855d176464">  207</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a8fdec84c62624ab5950eb0855d176464">beta</a>() { <span class="keywordflow">return</span> m_angles[1]; }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a73fad7a6e7becb9407fa726fa2d8fded">  210</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a> <a class="code" href="classEigen_1_1EulerAngles.html#a73fad7a6e7becb9407fa726fa2d8fded">gamma</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_angles[2]; }</div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a5111ba70822f6f057e6a294fafa6cb11">  212</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html#a7893abd67974354b798200b3b458262f">Scalar</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a5111ba70822f6f057e6a294fafa6cb11">gamma</a>() { <span class="keywordflow">return</span> m_angles[2]; }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a88d41eba39cf221a9437028fb6431948">  217</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles</a> <a class="code" href="classEigen_1_1EulerAngles.html#a88d41eba39cf221a9437028fb6431948">inverse</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles</a> res;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        res.m_angles = -m_angles;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a928b1ec13cb2aa8e885b3e0c9ffacfb7">  227</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles</a> <a class="code" href="classEigen_1_1EulerAngles.html#a928b1ec13cb2aa8e885b3e0c9ffacfb7">operator -</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1EulerAngles.html#a88d41eba39cf221a9437028fb6431948">inverse</a>();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">class</span> Derived&gt;</div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a0d9cccdfc7baa141ad22673fe7cb6b98">  240</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a0d9cccdfc7baa141ad22673fe7cb6b98">operator=</a>(<span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1MatrixBase.html">MatrixBase&lt;Derived&gt;</a>&amp; other)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        EIGEN_STATIC_ASSERT((internal::is_same&lt;Scalar, typename Derived::Scalar&gt;::value),</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        internal::eulerangles_assign_impl&lt;System, Derived&gt;::run(*<span class="keyword">this</span>, other.<a class="codeRef" href="../classEigen_1_1DenseCoeffsBase_3_01Derived_00_01DirectWriteAccessors_01_4.html#a1fbabe7f12bcbfba3b9a448b1f5e46fa">derived</a>());</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="comment">// TODO: Assign and construct from another EulerAngles (with different system)</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Derived&gt;</div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a09721e16bfbbd908adf14f12e5469535">  257</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles</a>&amp; <a class="code" href="classEigen_1_1EulerAngles.html#a09721e16bfbbd908adf14f12e5469535">operator=</a>(<span class="keyword">const</span> <a class="codeRef" href="../classEigen_1_1RotationBase.html">RotationBase&lt;Derived, 3&gt;</a>&amp; rot) {</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        System::CalcEulerAngles(*<span class="keyword">this</span>, rot.<a class="codeRef" href="../classEigen_1_1RotationBase.html#ac69c68d9a256dd0d369b0f32c2b654e1">toRotationMatrix</a>());</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      </div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#aaba297075906f560e8c9b369b4b47cc6">  266</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classEigen_1_1EulerAngles.html#aaba297075906f560e8c9b369b4b47cc6">isApprox</a>(<span class="keyword">const</span> <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles</a>&amp; other,</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keyword">const</span> RealScalar&amp; prec = <a class="codeRef" href="../structEigen_1_1NumTraits.html">NumTraits&lt;Scalar&gt;::dummy_precision</a>())<span class="keyword"> const</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> <a class="code" href="classEigen_1_1EulerAngles.html#a430d0f255f3a671433fb2d81b7759347">angles</a>().isApprox(other.<a class="code" href="classEigen_1_1EulerAngles.html#a430d0f255f3a671433fb2d81b7759347">angles</a>(), prec); }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a5db785d10c675039efa3368ded1270ef">  271</a></span>&#160;      <a class="codeRef" href="../classEigen_1_1Matrix.html">Matrix3</a> <a class="code" href="classEigen_1_1EulerAngles.html#a5db785d10c675039efa3368ded1270ef">toRotationMatrix</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        <span class="comment">// TODO: Calc it faster</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><a class="codeRef" href="../classEigen_1_1Quaternion.html">QuaternionType</a><span class="keyword">&gt;</span>(*this).<a class="codeRef" href="../classEigen_1_1QuaternionBase.html#a8cf07ab9875baba2eecdd62ff93bfc3f">toRotationMatrix</a>();</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a0de66ebc0a5fafb3e9c02acab6ef7f66">  278</a></span>&#160;      <span class="keyword">operator</span> <a class="code" href="classEigen_1_1EulerAngles.html#a3000fb4d6de76cf9b68ae2766e4dd1c6">QuaternionType</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;        <span class="keywordflow">return</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          <a class="code" href="classEigen_1_1EulerAngles.html#a5342f1946064f4dc87f27e9d7ef3b944">AngleAxisType</a>(<a class="code" href="classEigen_1_1EulerAngles.html#a271449e2a6b745b4e97f7546bef1bc0a">alpha</a>(), <a class="code" href="classEigen_1_1EulerAngles.html#a293acf98b393c33700fa3ef73ebb5908">AlphaAxisVector</a>()) *</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          <a class="code" href="classEigen_1_1EulerAngles.html#a5342f1946064f4dc87f27e9d7ef3b944">AngleAxisType</a>(<a class="code" href="classEigen_1_1EulerAngles.html#a8701809550b7423d8747b2c54d54a758">beta</a>(), <a class="code" href="classEigen_1_1EulerAngles.html#a8688fc64fbfe00f0fc13c97ec20de8bf">BetaAxisVector</a>())   *</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          <a class="code" href="classEigen_1_1EulerAngles.html#a5342f1946064f4dc87f27e9d7ef3b944">AngleAxisType</a>(<a class="code" href="classEigen_1_1EulerAngles.html#a73fad7a6e7becb9407fa726fa2d8fded">gamma</a>(), <a class="code" href="classEigen_1_1EulerAngles.html#a2097a8d02e36a9d6b847177afa4f40fa">GammaAxisVector</a>());</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keyword">friend</span> std::ostream&amp; operator&lt;&lt;(std::ostream&amp; s, <span class="keyword">const</span> <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles&lt;Scalar, System&gt;</a>&amp; <a class="codeRef" href="../group__Geometry__Module.html#ga17994d2e81b723295f5bc3b1f862ed3b">eulerAngles</a>)</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        s &lt;&lt; <a class="codeRef" href="../group__Geometry__Module.html#ga17994d2e81b723295f5bc3b1f862ed3b">eulerAngles</a>.angles().transpose();</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="keywordflow">return</span> s;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      }</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> NewScalarType&gt;</div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classEigen_1_1EulerAngles.html#a2add1e1c2cdae9305d759c1f515fb4ef">  294</a></span>&#160;      <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles&lt;NewScalarType, System&gt;</a> <a class="code" href="classEigen_1_1EulerAngles.html#a2add1e1c2cdae9305d759c1f515fb4ef">cast</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        <a class="code" href="classEigen_1_1EulerAngles.html">EulerAngles&lt;NewScalarType, System&gt;</a> e;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        e.<a class="code" href="classEigen_1_1EulerAngles.html#a430d0f255f3a671433fb2d81b7759347">angles</a>() = <a class="code" href="classEigen_1_1EulerAngles.html#a430d0f255f3a671433fb2d81b7759347">angles</a>().template cast&lt;NewScalarType&gt;();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <span class="keywordflow">return</span> e;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  };</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="preprocessor">#define EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(AXES, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="preprocessor"> \</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="preprocessor">  typedef EulerAngles&lt;SCALAR_TYPE, EulerSystem##AXES&gt; EulerAngles##AXES##SCALAR_POSTFIX;</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">#define EIGEN_EULER_ANGLES_TYPEDEFS(SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYZ, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XYX, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZY, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(XZX, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="preprocessor"> \</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZX, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YZY, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXZ, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(YXY, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="preprocessor"> \</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXY, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZXZ, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYX, SCALAR_TYPE, SCALAR_POSTFIX) \</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="preprocessor">  EIGEN_EULER_ANGLES_SINGLE_TYPEDEF(ZYZ, SCALAR_TYPE, SCALAR_POSTFIX)</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;EIGEN_EULER_ANGLES_TYPEDEFS(<span class="keywordtype">float</span>, f)</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;EIGEN_EULER_ANGLES_TYPEDEFS(<span class="keywordtype">double</span>, d)</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keyword">namespace </span>internal</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  {</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Scalar_, <span class="keyword">class</span> _System&gt;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keyword">struct </span>traits&lt;EulerAngles&lt;Scalar_, _System&gt; &gt;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keyword">typedef</span> Scalar_ Scalar;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    };</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="comment">// set from a rotation matrix</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> System, <span class="keyword">class</span> Other&gt;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="keyword">struct </span>eulerangles_assign_impl&lt;System,Other,3,3&gt;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Other::Scalar Scalar;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> run(EulerAngles&lt;Scalar, System&gt;&amp; e, <span class="keyword">const</span> Other&amp; m)</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        System::CalcEulerAngles(e, m);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    };</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <span class="comment">// set from a vector of Euler angles</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> System, <span class="keyword">class</span> Other&gt;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keyword">struct </span>eulerangles_assign_impl&lt;System,Other,3,1&gt;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Other::Scalar Scalar;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> run(EulerAngles&lt;Scalar, System&gt;&amp; e, <span class="keyword">const</span> Other&amp; vec)</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      {</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        e.angles() = vec;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    };</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;}</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// EIGEN_EULERANGLESCLASS_H</span></div>
<div class="ttc" id="aclassEigen_1_1AngleAxis_html"><div class="ttname"><a href="../classEigen_1_1AngleAxis.html">Eigen::AngleAxis</a></div></div>
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<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a271449e2a6b745b4e97f7546bef1bc0a"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a271449e2a6b745b4e97f7546bef1bc0a">Eigen::EulerAngles::alpha</a></div><div class="ttdeci">Scalar alpha() const</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:200</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a293acf98b393c33700fa3ef73ebb5908"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a293acf98b393c33700fa3ef73ebb5908">Eigen::EulerAngles::AlphaAxisVector</a></div><div class="ttdeci">static Vector3 AlphaAxisVector()</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:120</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a2add1e1c2cdae9305d759c1f515fb4ef"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a2add1e1c2cdae9305d759c1f515fb4ef">Eigen::EulerAngles::cast</a></div><div class="ttdeci">EulerAngles&lt; NewScalarType, System &gt; cast() const</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:294</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a3000fb4d6de76cf9b68ae2766e4dd1c6"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a3000fb4d6de76cf9b68ae2766e4dd1c6">Eigen::EulerAngles::QuaternionType</a></div><div class="ttdeci">Quaternion&lt; Scalar &gt; QuaternionType</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:116</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a3c2909797afa7e7d4efdad3d883c914b"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a3c2909797afa7e7d4efdad3d883c914b">Eigen::EulerAngles::EulerAngles</a></div><div class="ttdeci">EulerAngles(const Scalar &amp;alpha, const Scalar &amp;beta, const Scalar &amp;gamma)</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:144</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a430d0f255f3a671433fb2d81b7759347"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a430d0f255f3a671433fb2d81b7759347">Eigen::EulerAngles::angles</a></div><div class="ttdeci">const Vector3 &amp; angles() const</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:195</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a430e6d50569d0f10a067e13019ce0b1d"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a430e6d50569d0f10a067e13019ce0b1d">Eigen::EulerAngles::EulerAngles</a></div><div class="ttdeci">EulerAngles(const Scalar *data)</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:149</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a5111ba70822f6f057e6a294fafa6cb11"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a5111ba70822f6f057e6a294fafa6cb11">Eigen::EulerAngles::gamma</a></div><div class="ttdeci">Scalar &amp; gamma()</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:212</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a5342f1946064f4dc87f27e9d7ef3b944"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a5342f1946064f4dc87f27e9d7ef3b944">Eigen::EulerAngles::AngleAxisType</a></div><div class="ttdeci">AngleAxis&lt; Scalar &gt; AngleAxisType</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:117</div></div>
<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a5db785d10c675039efa3368ded1270ef"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a5db785d10c675039efa3368ded1270ef">Eigen::EulerAngles::toRotationMatrix</a></div><div class="ttdeci">Matrix3 toRotationMatrix() const</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:271</div></div>
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<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a8eee875698fd7dfb4a0a0a101dfaffc1"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a8eee875698fd7dfb4a0a0a101dfaffc1">Eigen::EulerAngles::EulerAngles</a></div><div class="ttdeci">EulerAngles(const MatrixBase&lt; Derived &gt; &amp;other)</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:164</div></div>
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<div class="ttc" id="aclassEigen_1_1EulerAngles_html_a9af783749247585b5660ed5209241759"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#a9af783749247585b5660ed5209241759">Eigen::EulerAngles::Matrix3</a></div><div class="ttdeci">Matrix&lt; Scalar, 3, 3 &gt; Matrix3</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:114</div></div>
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<div class="ttc" id="aclassEigen_1_1EulerAngles_html_aaba297075906f560e8c9b369b4b47cc6"><div class="ttname"><a href="classEigen_1_1EulerAngles.html#aaba297075906f560e8c9b369b4b47cc6">Eigen::EulerAngles::isApprox</a></div><div class="ttdeci">bool isApprox(const EulerAngles &amp;other, const RealScalar &amp;prec=NumTraits&lt; Scalar &gt;::dummy_precision()) const</div><div class="ttdef"><b>Definition:</b> EulerAngles.h:266</div></div>
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